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Reactive and the shortest path navigation of a wheeled mobile robot in cluttered environments

Published online by Cambridge University Press:  10 July 2012

Andrey V. Savkin  and
Michael Hoy
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia
Michael Hoy*
Affiliation:
School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia
*
*Corresponding author. E-mail: [email protected]
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Summary

We determine the shortest (minimal in length) path on a unicycle-like mobile robot in a known environment with smooth (possibly non-convex) obstacles with a constraint on curvature of their boundaries. Furthermore, we propose a new reactive randomized algorithm of robot navigation in unknown environment and prove that the robot will avoid collisions and reach a steady target with probability 1. The performance of our algorithm is confirmed by computer simulations and outdoor experiments with a Pioneer P3-DX mobile wheeled robot.

Keywords

Obstacle avoidanceRobot navigationCluttered environmentsWheeled mobile robotsMinimum length pathShortest path planningReactive navigationGlobal path planning
Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013 , pp. 323 - 330
Copyright
Copyright © Cambridge University Press 2012

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